CN110303912A - A kind of aerial unmanned plane mobile charging system based on dirigible - Google Patents
A kind of aerial unmanned plane mobile charging system based on dirigible Download PDFInfo
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- CN110303912A CN110303912A CN201910623709.XA CN201910623709A CN110303912A CN 110303912 A CN110303912 A CN 110303912A CN 201910623709 A CN201910623709 A CN 201910623709A CN 110303912 A CN110303912 A CN 110303912A
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- dirigible
- microwave
- unmanned plane
- antenna
- charging
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The aerial unmanned plane mobile charging system based on dirigible that the invention discloses a kind of, power supply system composition: dirigible, unmanned plane, microwave feeder ear, microwave receiving end, intelligent controller, feeder ear of the dirigible as system, receiving end of the unmanned plane as system, the transmitting terminal that dirigible is powered as microwave wireless, integrated micro RECTIFYING ANTENNA and charging circuit are as receiving end on unmanned plane, use the wireless power of microwave mode, wireless charging is carried out for the multiple no-manned plane of not enough power supply, solve current unmanned plane continuation of the journey deficiency and charging troublesome problem, increase the working time of multiple no-manned plane and improves the working efficiency of multiple no-manned plane.
Description
Technical field
The present invention relates to unmanned plane wireless charging field, in particular to a kind of aerial unmanned plane mobile charging based on dirigible
System.
Background technique
With the development of science and technology, unmanned plane and its relevant technologies constantly develop, and the threshold of manipulation unmanned plane is more next
Lower, the application range of unmanned plane is broader, and application scenarios also become increasingly complex, such as in civil field, unmanned plane quilt
Used in taking photo by plane, farmland plant protection, electric inspection process transports goods and materials etc., due to unmanned plane finite volume, in order to guarantee weight, body
Long-pending, flexible characteristic, therefore high capacity cell cannot be carried, cause at this stage the main problems faced of unmanned plane be cruise duration
It is short, be unable to flying for long time, it is generally the case that the unmanned plane longest working time in or so half an hour, when if necessary to execute
Between the work that requires or the work to operation distance, it is necessary to be divided into multiple flight operation to complete, consume so big
The time of amount, working strength is increased, cause unmanned plane working efficiency not high, therefore, solves the problems, such as that unmanned plane continuation of the journey becomes
Current unmanned aerial vehicle (UAV) control field problem to be solved.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of aerial unmanned plane moving charging based on dirigible
Electric system.Dirigible in-flight carries power supply and self-contained electric system, just executes task in the sky using intelligent algorithm planning and guidance
Multiple unmanned planes be that the multiple no-manned plane of not enough power supply carries out wireless charging, solve current nothing by microwave wireless transmission system
Man-machine continuation of the journey is insufficient and charging troublesome problem, increases the working time of multiple no-manned plane and improves the working efficiency of multiple no-manned plane.
The present invention is achieved by the following technical solutions:
The present invention is the system that a kind of dirigible carries out wireless power to unmanned plane using microwave mode, comprising: dirigible, nobody
Machine, microwave feeder ear, microwave receiving end, intelligent power supply controller, self-contained electric system, the transmitting that dirigible is powered as microwave wireless
End, self-contained power supply and self-contained electric system, integrated micro RECTIFYING ANTENNA and charging circuit are as receiving end on unmanned plane.
Wherein, the upper surface of the dirigible is integrated with multi-environment energy collecting system.
Wherein, the bottom of the dirigible carries battery, power-supply controller, high-gain integrated micro transmitting antenna, intelligence control
Device processed.
Wherein, the intelligent controller is integrated with the winged control function, radio station function, trajectory planning function, safety prison of dirigible
Control function, the start-up and shut-down control function of transmitting terminal.
Wherein, the skeleton upper surface of the unmanned plane is bonded integrated array microwave rectification receiving antenna, and microwave rectification receives
Antenna includes microwave antenna and rectification circuit, obtains array antenna feeding network using microwave theory.
Wherein, it is provided with power control device in the fuselage of the unmanned plane, flies control, battery.
A kind of aerial unmanned plane mobile charging system based on dirigible, the charging system includes self-contained electric system, microwave
Feeder ear, microwave receiving end.
Wherein, the self-contained electric system is integrated with the module that can acquire a variety of environmental energies, and multiple kinds of energy is carried out intelligence
Environmental energy is converted to electric energy as battery charging, improves itself cruising ability of dirigible and for electric flux by integrated mixing.
Wherein, the microwave feeder ear includes high density battery, high-power microwave source, array emitter antenna.Transmitting terminal will
DC energy in battery is changed into high-frequency signal, then high-frequency signal is become big through HIGH-POWERED MICROWAVES amplifier (or magnetron)
Power microwave energy is radiated by array emitter antenna to space.
Wherein, the microwave receiving end contains integrated, flexible easily conformal, high-gain microwave rectification array
Antenna receives, rectifies the High-Power Microwave that dirigible Microwave emission end emits in space, charges for unmanned machine battery.
It is a kind of based on dirigible aerial unmanned aerial vehicle flight path planning, the trajectory planning use based on intelligent algorithm be will or
The unmanned plane to charge provides reasonable flight track planning, and multiple unmanned planes keep steady with dirigible always in by electric process
Fixed relative distance, multiple unmanned planes execute avoidance and collision avoidance function always.
Wherein, the avoidance and collision avoidance function use the community information shared mechanism of dirigible and unmanned plane, and the mechanism makes
Information sharing between unmanned plane individual, completes the power supply strategic planning of group, completes cooperateing between dirigible and multiple no-manned plane
Path planning completes the mortality safety problems such as avoidance, the collision avoidance in supply path.
Wherein, the flight track planning includes global trajectory planning and local trajectory planning, and global trajectory planning is winged
Ship controls the optimization Path Planning based on intelligent algorithm, and local tracks planning is the algorithm of roller Collaborative Control, described
Local tracks planning Collaborative Control coordinate multiple UAVs under the environment of low latitude avoiding barrier, avoid mutual collision.
Beneficial content of the invention is:
In the present invention, dirigible carries power supply and self-contained electric system, is planned by intelligent algorithm, and guidance just executes in the sky
Multiple unmanned planes of task carry out wireless charging with multiple unmanned planes that microwave wireless transmission of electricity form is not enough power supply, solve mesh
Preceding multiple no-manned plane continuation of the journey is insufficient and charging troublesome problem, increases the collaborative work time of multiple no-manned plane and improves multiple no-manned plane
Working efficiency.
Detailed description of the invention
Fig. 1 is dirigible feeder ear illustrative view of functional configuration.
Fig. 2 is unmanned plane structural schematic diagram.
Fig. 3 is the overview flow chart of present system.
Fig. 4 is dirigible powered operation scene schematic diagram.
Specific embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings, it should be noted that of the invention real in order to make
The purposes, technical schemes and advantages for applying example are clearer, and technical solution in the embodiment of the present invention is clearly and completely retouched
It states, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the scope of protection of the invention.
Fig. 1 is the structural schematic diagram of the hollow middle mobile charging dirigible of the embodiment of the present invention, as shown in Figure 1, the present invention is implemented
The aerial mobile charging dirigible that example provides includes: air bag 101 and gondola 102, and 1 upper surface of air bag is covered with environmental energy acquisition mould
Block 103 is the self-contained electric system of dirigible, and energy-storage module 104, microwave feeder ear 105, control module are provided in gondola 102
106, microblogging feeder ear 105 is provided with battery 107, power-supply controller 109, microwave transmitting antenna module 108, control module 106
It is provided with intelligent controller, intelligent controller includes positioning system, path planning system, tele-control system.Energy-storage module
104, it is connected between microwave feeder ear 105 and control module 106 and is connected into a system, for the unmanned plane offer to aerial mobile
Wireless charging.
Specifically, the intelligent controller is integrated with winged control function, radio station function, trajectory planning function, the peace of dirigible
The start-up and shut-down control function of full monitoring function, transmitting terminal.
Fig. 2 is aerial mobile unmanned plane microwave wireless power supply system receiving end functional entity schematic diagram in present example,
As shown in Fig. 2, present example provide unmanned plane include: microwave receiving end 201, dynamical system 202, fly control 203, microwave by
Electric end 201 includes microwave rectification array antenna 201 and power control device 204, and microwave rectification array antenna is covered on unmanned plane bone
It on the surface of frame, is closed with Skeleton Table face paste, for receiving the energy microwave energy from dirigible, power control device 204 and winged control
203 are arranged in fuselage interior.
Specifically, the microwave rectification antenna includes microwave antenna and rectification circuit.Battle array is obtained using microwave theory
Array antenna feeding network.
Preferably, the microwave feeder ear includes high density battery, high-power microwave source, array emitter antenna.
Specifically, the self-contained electric system is integrated with the module that can acquire a variety of environmental energies, by multiple kinds of energy such as light
Energy, wind energy, mechanical energy, thermal energy, RF energy carry out intelligent integrated mixing, and environmental energy is converted to electric energy and is charged for battery,
Improve itself cruising ability of dirigible and for electric flux.
Preferably, the microwave receiving end contains integrated microwave rectification array antenna, receives, rectification is from sky
Between middle dirigible Microwave emission end emit High-Power Microwave, for unmanned machine battery charge.
As shown in figure 3, in embodiments of the present invention, a kind of aerial unmanned plane mobile charging system based on dirigible is provided and is filled
Method for electrically, this method subject of implementation are dirigible, unmanned plane, controller.
To achieve the above object, in one aspect of the invention, it is mobile to provide a kind of aerial unmanned plane based on dirigible
Charging system charging method, the method, comprising:
Dirigible needs power supply in need to institute, the unmanned plane powered to carry out overall situation track as the control centre of power supply
Planning.The individual local tracks planning of unmanned plane needs progress that needs to power, power.
Local tracks collaborative planning and control coordinate multiple UAVs by intelligent algorithm and hide obstacle under the environment of low latitude
Object avoids mutual collision, completes respective flight charging tasks.
Before dirigible and unmanned plane take off, dirigible and each executive component of unmanned plane are checked, it is ensured that various functions
It can normally realize, and recalibrate the location information acquisition device of dirigible and unmanned plane, to obtain accurate location information.
The dirigible and unmanned plane of execution task from the starting point take off of the task of execution, fly to execution task simultaneously together
Execution task place overhead is flown in place overhead from, directly can remotely be controlled by ground station.
Specifically, environmental energy acquisition module enters working condition immediately after dirigible takes off from ground, by multiple kinds of energy into
Environmental energy is converted to electric energy as battery charging, improves itself cruising ability of dirigible and for electric energy by the mixing of row intelligent integrated
Amount.
In a particular embodiment, a kind of position acquisition modular device is provided, dirigible and multiple no-manned plane are obtained by described device
Current dirigible and the respective flight position information of multiple no-manned plane are taken, and will acquire position data and be transferred to dirigible and unmanned plane respectively
Winged control in, while dirigible current location is transferred to earth station.
In a particular embodiment, a kind of data wireless transmission and receiving module device are provided, unmanned plane passes through described device
Unmanned plane current flight location information is sent to dirigible, dirigible receives the current flight position from unmanned plane by described device
Information, earth station receive dirigible and the respective information of multiple no-manned plane by described device.Global motion planning is sent to multiple no-manned plane to fly
Row course line.
After dirigible control module receives the current flight location information of multiple unmanned planes by data reception module, it will fly
Ship current flight location information and multiple no-manned plane current flight position, which merge, summarizes, and the data after summarizing are transferred to control module
Intelligent controller in.
Intelligent controller utilizes built-in intelligent algorithm analytical calculation and right according to acquired flight position information in real time
Current airship flight track and unmanned aerial vehicle flight path carry out Global motion planning.
Dirigible is sent to each unmanned plane, nothing for the unmanned plane during flying track planned is calculated by data wireless sending module
It is man-machine that the flight track planned is received by data wireless reception module.
Unmanned plane executes task, during execution task, unmanned plane real-time monitoring according to the flight track of dirigible planning
Itself current electric quantity sends dirigible control module for information about power and location information with 10 seconds each frequencies.
In a particular embodiment, a kind of sensor device is provided, in flight course, unmanned plane is found by described device
Environmental factor, complaint message on current projected flight path.
In flight course, unmanned plane determines environmental factor by sensor, and the environmental data of acquisition is changed into track rule
The Uniform data format needed is drawn, geographical elevation information is used uniformly as input data and is supplied to control system.
Acquired environmental factor is divided into constraint condition by multiple unmanned aerial vehicle control systems, for various boundary conditions,
Control system is classified condition grade by intelligent algorithm, determines the parameter of trajectory planning intelligent algorithm.
Multiple no-manned plane control system is according to the course line complaint message obtained and the Parameter analysis of control system intelligent algorithm
It calculates, carries out sector planning, calculate sector planning path to be charged.
Unmanned plane executive component adjusts flight attitude according to the flight track planned in real time, and multiple no-manned plane collaboration processing is prominent
Obstacle is sent out, barrier is hidden or dispose.
In flight course, it is lower than preset warning value when unmanned plane real-time monitors self electric quantity, passes through data
Alarm signal is wirelessly transmitted to dirigible control module by wireless transport module, and records and task workload is currently completed.
As shown in figure 4, transferring information to dirigible control after dirigible wireless receiving module receives the warning message of unmanned plane
The intelligent controller of molding block, intelligent controller are carried out using intelligent algorithm according to unmanned plane present position and real time electrical quantity
Analytical calculation, Global motion planning goes out the optimal flight track to be charged of unmanned plane, and flight path is wirelessly transmitted to unmanned plane.
After unmanned plane receives optimal flight track to be charged by wireless receiving module, calculated immediately according to flight track
Flight parameter adjusts flight attitude, the power supply area where the dirigible that flies to according to the optimal flight track planned.
The case where there are multiple unmanned planes while not enough power supplies, each unmanned plane is filled according to the good most preferential treatment of dirigible Global motion planning
Electric flight track flies to power supply area where dirigible, the Environment Obstacles that each unmanned plane obtains in flight course according to sensor because
Plain sector planning itself path to be charged in real time.
In a particular embodiment, a kind of distance sensing device is provided, for where dirigible induction self-position and unmanned plane
The distance between position, the distance information transmission that will acquire to control module.
The range information of dirigible and unmanned plane that the control module of dirigible will acquire is filled with preset microwave wireless
Electrical distance compares, it is determined whether meets the condition for opening microwave wireless charging.
When the distance between dirigible and unmanned plane value meet microwave wireless charge condition, dirigible microwave feeder ear starts work
Make, meanwhile, unmanned plane microwave receiving end is started to work.
Specifically, the DC energy in battery is changed into high-frequency signal by dirigible feeder ear 5, then is amplified through HIGH-POWERED MICROWAVES
High-frequency signal is become HIGH-POWERED MICROWAVES energy by device (or magnetron), is radiated by array emitter antenna to space.
Specifically, unmanned plane in-flight receives, rectifies the High-Power Microwave that dirigible Microwave emission end emits in space,
For the charging of unmanned machine battery.
During the charging process, dirigible sensor obtains Environment Obstacles information in real time, is adjusted in real time according to Environment Obstacles information
Current projected flight path.
The Task Progress that dirigible records before being charged according to each unmanned plane, and preset the task intensity being not carried out and return to boat
Journey optimizes and revises charging scheme, and the minimum charge capacity value that each unmanned plane continues to execute is arranged, electricity minimum is passed through data
Transmission module is transferred to unmanned plane, promotes unmanned plane working efficiency.
After the unmanned plane in charging monitors that electricity reaches the minimum charge capacity value continued to execute, it is spontaneously decoupled dirigible
Microwave charging distance, and continue to execute task with returning to former execution task.
During the charging process, based on global trajectory planning and local trajectory planning, multiple no-manned plane in by electric process always
Stable relative distance is kept, multiple no-manned plane executes avoidance always.
It should be noted that all features disclosed in this specification or disclosed all methods, in addition to mutually exclusive
Other than feature, it can combine in any way.
Technical solution of the present invention can be realized well according to the record of this specification.
Claims (10)
1. a kind of aerial unmanned plane mobile charging system based on dirigible, it is characterised in that the system comprises: power supply system group
At: dirigible, unmanned plane, microwave feeder ear, microwave receiving end, intelligent controller, feeder ear of the dirigible as system, unmanned plane are made
For the transmitting terminal that the receiving end of system, dirigible are powered as microwave wireless, integrated micro RECTIFYING ANTENNA and charging on unmanned plane
Circuit is as receiving end, and using the wireless power of microwave mode, microwave rectification element antenna forms array, will using microwave theory
The amplitude and phase factor of coupling effect, each antenna element between antenna element, obtains array antenna feeding network, is flying
In group's navigation of ship and multiple no-manned plane composition, provided rationally using the unmanned plane based on intelligent algorithm will or to charge
Flight track planning, multiple unmanned planes keep stable relative distance, multiple unmanned planes with dirigible always in by electric process
Always avoidance and collision avoidance function are executed.
2. charging system according to claim 1, which is characterized in that the dirigible carries the transmitting terminal of microwave power supply, intelligence
It can power-supply controller and self-contained electric system.
3. charging system according to claim 2, which is characterized in that the microwave power supply transmitting terminal of the dirigible includes highly dense
Spend battery, high-power microwave source, array emitter antenna.DC energy in battery is changed into high-frequency signal by transmitting terminal, then is passed through
High-frequency signal is become HIGH-POWERED MICROWAVES energy by HIGH-POWERED MICROWAVES amplifier (or magnetron), by array emitter antenna to space
Radiation.
4. charging system according to claim 3, which is characterized in that the array emitter antenna be it is integrated,
Flexible easily conformal, high-gain microwave rectification array antenna.
5. charging system according to claim 1, which is characterized in that the unmanned plane carries microwave rectification receiving antenna,
For receiving, rectifying the High-Power Microwave from the transmitting of dirigible Microwave emission end.
6. charging system according to claim 2, which is characterized in that the self-contained electric system of the dirigible, which is integrated with, to be acquired
The module of a variety of environmental energies, for multiple kinds of energy to be carried out intelligent integrated mixing, it is battery that environmental energy, which is converted to electric energy,
Charging.
7. charging system according to claim 2, which is characterized in that the intelligent controller of the dirigible is integrated with dirigible
Fly control function, radio station function, trajectory planning function, the start-up and shut-down control function of security monitoring function, transmitting terminal.
8. charging system according to claim 4, which is characterized in that the microwave rectification antenna includes microwave receiving day
Line and rectification circuit are integrated in the outer surface of unmanned plane.
9. charging system according to claim 7, which is characterized in that the rectification circuit includes filter, multiple
With circuit, rectifier diode circuit.
10. barrier avoiding function according to claim 1, which is characterized in that the barrier-avoiding method is using dirigible and unmanned plane
Community information shared mechanism, the mechanism makes information sharing between unmanned plane individual, completes the power supply strategic planning of group, complete
At the path planning that cooperates between dirigible and multiple no-manned plane, the mortality safety problems such as avoidance, the collision avoidance in supply path are completed.
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| CN112152287A (en) * | 2020-09-10 | 2020-12-29 | 军事科学院系统工程研究院军事新能源技术研究所 | Remote charging method, device and system |
| CN112140913A (en) * | 2020-09-10 | 2020-12-29 | 军事科学院系统工程研究院军事新能源技术研究所 | Remote wireless charging method, device and system for unmanned aerial vehicle |
| CN112193412A (en) * | 2020-07-28 | 2021-01-08 | 国网山东省电力公司滨州供电公司 | Transmission line unmanned aerial vehicle patrols and examines intelligent management system |
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| CN112829929A (en) * | 2021-01-27 | 2021-05-25 | 贵州电网有限责任公司 | A wireless line unmanned aerial vehicle that patrols that charges for on high-voltage transmission lines |
| CN112960132A (en) * | 2021-03-26 | 2021-06-15 | 中国能源建设集团江苏省电力设计院有限公司 | Distributed shared nest and unmanned aerial vehicle inspection method for power line of distributed shared nest |
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| CN113625743A (en) * | 2020-05-08 | 2021-11-09 | 丰鸟航空科技有限公司 | Intelligent control method for unmanned aerial vehicle, related device and storage medium |
| CN113997803A (en) * | 2021-10-26 | 2022-02-01 | 南京壮大智能科技研究院有限公司 | Aircraft flight control method based on non-contact network wireless power supply |
| CN114476063A (en) * | 2022-02-21 | 2022-05-13 | 黄河水利职业技术学院 | Unmanned aerial vehicle control method and system for geographical mapping |
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| CN112140913A (en) * | 2020-09-10 | 2020-12-29 | 军事科学院系统工程研究院军事新能源技术研究所 | Remote wireless charging method, device and system for unmanned aerial vehicle |
| CN112697511A (en) * | 2020-12-23 | 2021-04-23 | 南通大学 | Airship water sample collection platform coupled with unmanned aerial vehicle |
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